Novel walking assist device based on mobile manipulator and inertial measurement unit

Chuan Yang; Toshiyuki Murakami

doi:10.1541/ieejjia.3.381

Novel walking assist device based on mobile manipulator and inertial measurement unit

Chuan Yang, Toshiyuki Murakami

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

9 Citations (Scopus)

Abstract

This paper presents a method for walking assist control that uses an inertial measurement unit (IMU) sensor fixed to an elderly person's foot to estimate his or her walking motion. In the proposed approach, a mobile device is synchronously driven by the user's walking motion. Furthermore, a manipulator mounted on the mobile device can support and help the user walk. These functions make it possible for the device to move beside the user and coordinate with his or her steps. The validity of the proposed approach was confirmed through several experiments.

Original language	English
Pages (from-to)	381-387
Number of pages	7
Journal	IEEJ Journal of Industry Applications
Volume	3
Issue number	5
DOIs	https://doi.org/10.1541/ieejjia.3.381
Publication status	Published - 2014

Keywords

IMU sensor
Mobile device power assisted control
Walking motion estimation

ASJC Scopus subject areas

Automotive Engineering
Energy Engineering and Power Technology
Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

Access to Document

10.1541/ieejjia.3.381

Fingerprint Dive into the research topics of 'Novel walking assist device based on mobile manipulator and inertial measurement unit'. Together they form a unique fingerprint.

Cite this

@article{a6c01b3776ad4a25a6f901b964335dab,

title = "Novel walking assist device based on mobile manipulator and inertial measurement unit",

abstract = "This paper presents a method for walking assist control that uses an inertial measurement unit (IMU) sensor fixed to an elderly person's foot to estimate his or her walking motion. In the proposed approach, a mobile device is synchronously driven by the user's walking motion. Furthermore, a manipulator mounted on the mobile device can support and help the user walk. These functions make it possible for the device to move beside the user and coordinate with his or her steps. The validity of the proposed approach was confirmed through several experiments.",

keywords = "IMU sensor, Mobile device power assisted control, Walking motion estimation",

author = "Chuan Yang and Toshiyuki Murakami",

year = "2014",

doi = "10.1541/ieejjia.3.381",

language = "English",

volume = "3",

pages = "381--387",

journal = "IEEJ Journal of Industry Applications",

issn = "2187-1094",

publisher = "The Institute of Electrical Engineers of Japan",

number = "5",

}

TY - JOUR

T1 - Novel walking assist device based on mobile manipulator and inertial measurement unit

AU - Yang, Chuan

AU - Murakami, Toshiyuki

PY - 2014

Y1 - 2014

N2 - This paper presents a method for walking assist control that uses an inertial measurement unit (IMU) sensor fixed to an elderly person's foot to estimate his or her walking motion. In the proposed approach, a mobile device is synchronously driven by the user's walking motion. Furthermore, a manipulator mounted on the mobile device can support and help the user walk. These functions make it possible for the device to move beside the user and coordinate with his or her steps. The validity of the proposed approach was confirmed through several experiments.

AB - This paper presents a method for walking assist control that uses an inertial measurement unit (IMU) sensor fixed to an elderly person's foot to estimate his or her walking motion. In the proposed approach, a mobile device is synchronously driven by the user's walking motion. Furthermore, a manipulator mounted on the mobile device can support and help the user walk. These functions make it possible for the device to move beside the user and coordinate with his or her steps. The validity of the proposed approach was confirmed through several experiments.

KW - IMU sensor

KW - Mobile device power assisted control

KW - Walking motion estimation

UR - http://www.scopus.com/inward/record.url?scp=84982788257&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84982788257&partnerID=8YFLogxK

U2 - 10.1541/ieejjia.3.381

DO - 10.1541/ieejjia.3.381

M3 - Article

AN - SCOPUS:84982788257

VL - 3

SP - 381

EP - 387

JO - IEEJ Journal of Industry Applications

JF - IEEJ Journal of Industry Applications

SN - 2187-1094

IS - 5

ER -